Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System
- Title
- Iterative Optimization of Disturbance Observer and Feedforward Control on RFSEA System
- Author(s)
- Kong, Taejune ; Jung, Hanul ; Oh, Sehoon ; Chung, Hyun–Joon
- Issued Date
- 2021-06-22
- Citation
- 30th IEEE International Symposium on Industrial Electronics, ISIE 2021, pp.1 - 6
- Type
- Conference Paper
- ISBN
- 9781728190235
- Abstract
- Robust controller including feedforward controller and disturbance observer (DOB) achieve high performance in a complex system such as a non-collocated system. However, this controller is a model-based control which is necessary to know the plant model, and additional effort is required. To solve this problem, iterative control and data-driven method are utilized, and feedforward controller and DOB that minimize tracking errors are obtained simultaneously. The proposed method is validated on the flexible system Series Elastic Actuator (SEA). The experimental results verify that the controller can be obtained in the control of a non-collocated system. © 2021 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers
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